A New Generation of Surgical Technique: Telesurgery Using Haptic Interfaces

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A New Generation of Surgical Technique
Telesurgery Using Haptic Interfaces

• By Sarah L. Choy
• A haptic interface is a force reflecting device
  which allows a user to touch, feel, manipulate,
  create and/or alter simulated objects in a
  virtual environment. The nature of haptic
  interfaces allows a surgeon to sense human tissue
  by means of force feedback, which is sent via a
  high-speed network.

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What is a Haptic Interface?Haptic comes from
the Greek meaning haptesthai, to touch

• Human-robot interaction to support physical
• manipulation of computer simulated objects

• Haptic interface comprises of
• Manipulandum operator handle, sensors
• Haptic Display mechanical, electrical and
  computer hardware

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Force Feedback

• Force Feedback
• Devices that interact with muscles and tendons
  giving the sensation of force is being applied
• Multi force transducers
• Strain Gauges

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What is Telesurgery?

• Surgery via long-distance communication links
• Telesurgical workstation restores manipulation
  and sensation capabilities of surgeon
• Robot controlled through master will restore
  dexterity and force feedback in real time
• Will allow professional surgeons to perform
  complex procedures with higher precision overseas
  without leaving their office
• Instruments designed to enter the body cavity
  through
• (usually 3) incisions of merely 1 cm in length

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From Physical to Mechanical

• Surgeon
• In multimedia cockpit equipped with
  stereoscopic screen and master manipulators that
  sends control pulse to real-time controller
• Information is sent via communication link (LAN,
  ATM, satellite communication, etc.) to surgical
  site
• Robot
• Information is received at the surgical site
  through a real-time controller and is inputted
  into slave manipulators, which perform surgery on
  patient
• Feedback information is sent back via
  communication link (back through real-time
  controllers) which in turn affect master
  manipulators
• Throughout
• Endoscope sends visual information via
  communication link from robot to multimedia
  cockpit

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Haptic Interfaces Feedback Channels

• Force feedback
• Man-machine interface that directly connects
• surgeons hands to motion of his surgical tool
• tips inside patients body
• Visual feedback
• Visual feedback provided by
• endoscope camera which transports
• 3D images in the same orientation as
• master controller and monitor

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The da Vinci and Zeus Surgical Systems

• 7 degrees of freedom
• 3 x orientation 3 x translational grip
• Filters out surgeon tremor making tool tip
  steadier than unassisted hand
• Voice control allows surgeon to guide endoscope

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From the Past to Present What the Future Holds

• 1999 ZEUS made history in the world's first
  robotic-assisted beating-heart bypass surgery
• September 2001 a surgeon in New York performed
  gallbladder surgery on a 68-year-old patient in
  Strasbourg, France.
• September 2002 ZEUS was granted clearance by
  Health Canada in October 2002 for cardiac surgery
  and telesurgery applications
• Eventually doctors may be able to use this
  technology to operate on patients in dangerous or
  inaccessible locations with the development of
  improved high-speed networks
• Use of tactile feedback, sensing heat and other
  textures
• Use of optoelectronic sensors instead of metal
  strain gauges

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References

• Cavusoglu, Cenk, M., et al. 2001. Robotics for
  Telesurgery Second Generation Berkeley/UCSF
  Laparoscopic Telesurgical Workstation and Looking
  Towards Future Applications. Proceedings of 39th
  Allerton Conference on Communication, Control
  and Computing.
• Centre for the Integration of Advanced Medicine
  and Innovative Technology. 2003. Future
  Perspective. Website Accessed February 10,
  2004 lthttp//www.camit.org/english/future_pers.ht
  mlgt
• Computer Motion. 2002. Zeus Surgical System.
  Website Accessed February 10, 2004
  lthttp//www.computermotion.com/productsandsolutio
  ns/products/zeus/gt
• Guthart, Gary S. and Salisbury, Kenneth J. Jr.
  2000. The IntuitiveTelesurgery System Overview
  and Application. Pro. IEEE. ICRA.
• Intuitive Surgical Inc. 2003. da Vinci Surgical
  Systems. Website Accessed February 10, 2004
  lthttp//www.intuitivesurgical.com/productsgt
• Mitsuishi, Mamoru, et al. 2003. Development of a
  Remote Minimally-Invasive Surgical System with
  Operation Environment Transmission Capability.
  Pro. IEEE. ICRA.
• Tavakoli, M., et al. 2003. A Force Reflective
  Master-Slave System for Minimal Invasive
  Surgery. Pro. IEEE. International Conference on
  Intelligent Robots and Systems.